• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a pool cleaning robot (10) comprising: - a body (11), - at least one liquid circulation hydraulic circuit between at least one liquid inlet (13) and at least one liquid outlet ( 14), said hydraulic circuit comprising at least one means for separating the debris suspended in the liquid, - pumping means ensuring the flow of the liquid in said hydraulic circuit, - means for driving and guiding said cleaning robot on a surface, - means for controlling the operating parameters of the drive and guiding means of said cleaning robot (10), the control means comprise a pressure sensor (21) for determining the immersion depth of the robot cleaning in a pool pool. The invention also relates to a method for guiding such a robot.
    公开号:FR3047261A1
    申请号:FR1650744
    申请日:2016-01-29
    公开日:2017-08-04
    发明作者:Thierry Michelon；Philippe Pichon；Jerome Bonnin；Tailleur Philippe Blanc；Der Meijden Hendrikus Johannes Van；Philip John Newman
    申请人:Zodiac Pool Care Europe SAS；
    IPC主号:
    专利说明:

    The present invention relates to the field of swimming pool equipment. It relates more particularly to a swimming pool cleaning device capable of moving along inclined walls.
    Preamble and prior art The invention relates to a surface cleaner device immersed in a liquid, such as a surface formed by the walls of a pool, including a swimming pool. These include a mobile pool cleaning robot. Such a cleaning robot carries out said cleaning by traversing the bottom and walls of the pool of the pool, brushing these walls, and sucking the debris to a filter. Debris means all the particles present in the basin, such as pieces of leaves, micro-algae, etc., these debris being normally deposited at the bottom of the basin or glued on the side walls thereof.
    Most commonly, the robot is powered by an electrical cable connecting the robot to an outdoor control unit and power supply.
    For example, there are known in this field, patents FR 2 925 557 and 2 925 551, of the applicant, which are directed to a submerged surface cleaner device with removable filter device. Such devices generally comprise a body, drive members of said body on the immersed surface, a filtration chamber formed within the body and comprising a liquid inlet, a liquid outlet, a hydraulic circuit for circulating liquid between the body. input and output through a filter device. Patent FR 2 954 380, of the same applicant, is still known, which is directed at a pool cleaning robot equipped with an accelerometer making it possible to determine changes of attitude within the pool.
    These devices have automatic programs for cleaning the bottom of the basin and possibly the side walls of the basin. Such a program determines a cleaning of the pool in a predetermined time, for example an hour and a half. Generally, the robot is removed from the water by the user at the end of the cycle or at regular intervals to be cleaned, when the filter is too full of particles (leaves, microparticles etc.).
    Moreover, in the prior art, depending on the nature of the surface of the pool, the cleaning robot could or not to climb up the walls of the pool to clean them. He was known to add some weights or floats to correct his behavior. It is clear that this installation was not easy, asked additional resources not available to the end user of the robot, and caused significant variations in the behavior of the robot in all its developments.
    Moreover, during the cleaning of the basin, the filter fills with particles generating an additional mass or even a plugging of the filter. Thus, the robot whose filter is closed, may have difficulties to climb along the walls and reach the water line. Indeed, the robot has on the one hand a larger mass related to the filling of the filter. On the other hand, in the case of a robot comprising plating means connected to the pumping of the water, the clogging of the filter results in a reduction of the plating forces of the robot towards the surface. The invention therefore aims to solve some of these problems. The invention aims in particular a swimming pool cleaning device whose behavior along a vertical wall is improved, and allowing a uniform cleaning of the pool.
    DESCRIPTION OF THE INVENTION The invention aims, in a first aspect, on a pool cleaning robot comprising: - a body, - at least one hydraulic circuit for liquid circulation between at least one liquid inlet and at least one liquid outlet, said hydraulic circuit comprising at least one means for separating debris suspended in the liquid, - pumping means ensuring the flow of liquid in said hydraulic circuit, - means for driving and guiding said cleaning robot on a surface means for controlling the operating parameters of the driving and guiding means of said cleaning robot.
    A "pool cleaning robot" is a device for cleaning a submerged surface, that is to say, typically a device, mobile within or at the bottom of a swimming pool, and adapted to carry out the filtration debris deposited along a wall. Such an apparatus is commonly known as a pool cleaning robot, when it comprises means of automated management of movements at the bottom and on the walls of the pool to cover the entire surface to be cleaned.
    Abbreviated as "liquid", the term "liquid" is used to describe the mixture of water and debris suspended in the pool or in the fluid circulation circuit within the cleaning apparatus.
    Since the robot moves by friction on a surface, it is understood that the driving and guiding means comprise means for plating the robot on the surface. These plating means may for example be related to the pumping means creating a depression between the robot and the surface traveled by the robot. It should be emphasized that the driving, guiding and plating means can be controlled independently. In other words, the robot comprises driving and guiding means and plating means.
    According to the invention, the control means comprise a pressure sensor for determining the depth of immersion of the cleaning robot in a pool of a pool, from the measurement of the ambient pressure of the robot.
    Thus, the robot has a way to know the pressure at which it is immersed. The pressure sensor can be attached to the robot or connected by a flexible hose to the robot. In addition, the pressure sensor can be independently inside the body of the robot or outside of it.
    It should be emphasized that in the case of a sensor comprising at least one electronic component, the electronic component can be protected from water by being housed inside a sealed housing or coated with resin. It can also be a waterproof sensor integrating the electronics inside the body of the sensor.
    A state of the robot can be defined from the pressure detected by the robot. The state of the robot can be for example one of the following states: - robot out of water; - robot at the water line; - robot near the water line; - robot in shallow immersion; - deep immersion robot.
    In addition, the pressure sensor allows guidance of the robot at a constant depth for example to clean the pool water line.
    In particular embodiments of the invention, the pressure sensor is an absolute pressure sensor.
    In particular embodiments of the invention, the pressure sensor is a relative pressure sensor measuring the pressure difference with respect to a pressure of a sealed chamber serving as a reference. The sealed enclosure may be a housing comprising a pressure equal to atmospheric pressure, a bar or vacuum. The sealed chamber may also correspond to the engine block of the robot, the engine block corresponding to a sealed chamber in which is housed one of the cleaning robot motors.
    In particular embodiments of the invention, the pressure sensor is a piezoelectric sensor.
    Thus, the pressure sensor delivers an electrical signal depending on the pressure exerted on a piezoelectric material.
    In particular embodiments of the invention, the pressure sensor is a piezoresistive sensor.
    In particular embodiments of the invention, the pressure sensor is a strain gauge attached to a wall subjected to ambient pressure.
    In particular embodiments of the invention, the control means comprise means for recording the time spent at at least one determined immersion depth of said cleaning robot.
    Thus, when the pool has several bearings to clean, the robot can be guided to a landing where the robot has spent less time cleaning.
    In particular embodiments of the invention, the control means are connected to an inclinometer secured to the body of the robot.
    Thus, the control means evaluate the information provided by the pressure sensor and the inclinometer, and fine-tune the operating parameters of the drive and guiding means of the cleaning robot. It should be emphasized that the inclinometer can be an accelerometer.
    In particular embodiments of the invention, the pressure sensor is located in a median plane of the body of the robot, said plane being perpendicular to the usual axis of displacement.
    Thus, the pressure sensor being located in the middle of the cleaning robot between the front face and the rear face of the robot, can detect the water line or the approach to the water line in an identical manner whatever the displacement front or back of the robot.
    In particular embodiments of the invention, the pressure sensor is housed, at least in part, inside the rigid sealed housing comprising a flexible membrane, the pressure sensor measuring the internal pressure of said sealed housing.
    The sealed housing can be a housing attached to the body of the cleaning robot or be the sealed block containing the robot motors. The pressure sensor measures a pressure proportional to the ambient pressure of the robot. In the case where the pressure sensor is associated with an electronic card, said electronic card can be advantageously housed inside the sealed housing. It should be emphasized that the sensor body can pass through a wall of said sealed housing.
    In particular embodiments, the pressure sensor is housed, at least in part, inside a rigid sealed housing traversed by a capillary tube having an end inside the housing, said pressure sensor being connected in a sealed manner at said end of the capillary tube, measuring the pressure at said end of the capillary tube, the sealed housing being secured to the body of the robot.
    Thus, an electronic card associated with the pressure sensor can also be placed inside the sealed housing.
    In particular embodiments, the sealed housing is made of a plastic material having a low thermal conductivity.
    Thus, the temperature inside the housing is substantially constant, equal to the water temperature of the basin.
    In particular embodiments, the sealed housing comprises a Faraday cage.
    Thus, the electronic components located inside the housing are not subjected to the magnetic field induced by the coils of an electric motor included in the plating means and the driving and guiding means of the robot. The invention also relates to a method for controlling a pool cleaning robot, characterized in that it comprises a step of adjusting the operating parameters of the plating means and / or the driving and guiding means. depending on the pressure detected by the pressure sensor.
    In particular embodiments of the invention, the method comprises a step in which the control means guide the cleaning robot to a constant immersion depth by controlling the pressure detected by the pressure sensor to a given value.
    In particular embodiments of the invention, the method comprises a step in which the control means are calibrated during the first climb along a wall of the pool to be cleaned, by adjusting the operating parameters of the control means. driving and guiding and / or plating means to drive the robot to reach the water line in a certain way.
    In particular embodiments of the invention, the method comprises a step wherein the control means determines the atmospheric pressure as the minimum pressure recorded during the first rise.
    In particular embodiments of the invention, the method comprises a step in which the control means record the atmospheric pressure before the immersion of the robot in the pool.
    In particular embodiments of the invention, the method comprises the following steps: the control means detects the ascent of the cleaning robot along a wall; - As soon as the ascent is detected, the control means adjust the operating parameters of the driving and guiding means and / or the cleaving means of the cleaning robot, to allow climbing along the wall ; the control means detect the approach of the water line at a distance D from the water line, when the pressure detected by the pressure sensor is equal to the sum of the atmospheric pressure and the pressure of the water column of height D; when the approach of the water line is detected, the control means adjust the operating parameters of the driving and guiding means and / or the cleaving means of the cleaning robot, progressively reducing the power driving and guiding means, so that the cleaning robot reaches the water line with a low vertical speed, substantially equal to zero.
    In particular embodiments of the invention, the method comprises a step in which the cleaning robot follows the water line while being guided at a constant pressure substantially equal to the atmospheric pressure.
    In particular embodiments of the invention, the method comprises a step in which the control means modify the atmospheric pressure setpoint if the cleaning robot sucks air when the robot cleans the water line.
    In particular embodiments of the invention, the method comprises a step in which, after detecting that the cleaning robot hardly reaches the water line, or even is unable to reach it despite the adjustment of the parameters of operation of the drive and guide means and / or guidance, an indication is displayed on a user interface indicating that the filter must be cleaned.
    In particular embodiments of the invention, the method comprises a step of recording the cleaning time spent by the cleaning robot to at least a given depth.
    In particular embodiments of the invention, the method comprises a step in which the control means comprise at least one cleaning instruction in time to pass for the cleaning of a given depth.
    In particular embodiments of the invention, the method comprises a step in which the control means comprise at least one relative cleaning instruction comparing the time spent between at least two given depths. The invention also relates to an immersed surface cleaning apparatus characterized in combination by all or some of the characteristics mentioned above or below.
    Presentation of figures
    The characteristics and advantages of the invention will be better appreciated thanks to the description which follows, description which sets out the characteristics of the invention through a non-limiting example of application.
    The description is based on the appended figures in which:
    FIG. 1 illustrates a perspective view of a pool cleaning robot implementing a filtration system as described,
    FIG. 2 illustrates a sectional view of the same apparatus along a longitudinal vertical plane;
    FIG. 3a illustrates a method for controlling the same apparatus in the form of a block diagram,
    FIG. 3b illustrates a recording curve as a function of time of the pressure measured by the pressure sensor of the same apparatus,
    FIG. 4a illustrates a front view of an alternative embodiment of the same apparatus,
    FIG. 4b illustrates a perspective view of a sealed housing housing the pressure sensor of this variant embodiment of the same apparatus.
    DETAILED DESCRIPTION OF AN EMBODIMENT OF THE INVENTION The invention finds its place in a swimming pool technical environment, for example a family-type buried pool.
    A submerged surface cleaner includes, in the present non-limiting embodiment, a cleaning unit, further referred to as a pool cleaning robot, a power supply unit and a control unit of said pool cleaning robot. The cleaning unit is shown according to an embodiment given here by way of example, in FIGS. 1 and 2.
    The pool cleaning robot 10 comprises a body 11 and a driving and guiding device comprising driving and guiding members 12 of the body on a submerged surface. In the present nonlimiting example, these driving and guiding members consist of wheels or caterpillars arranged laterally to the body (see FIG. 1).
    The pool cleaning robot 10 further comprises a motor driving said driving and guiding members, said motor being fed, in the present embodiment, via an on-board card.
    For the rest of the description, a reference XrYrZr relative to this cleaning robot 10 is defined, in which: a longitudinal axis Xr is defined as the axis of movement of the cleaning robot 10 when the displacement wheels 12 are controlled to move identically, - a transverse axis Yr is defined as perpendicular to the longitudinal axis Xr, and located in a plane parallel to the support plane of the displacement wheels 12 of the cleaning robot 10, this lateral axis Yr thus being parallel to the axis of rotation of the wheels, - a vertical axis Zr is defined as perpendicular to the other two axes, the bottom of the robot along the vertical axis Zr being located between said robot and the wall traveled, and the top of the robot along this axis being the part of the robot furthest from the surface traveled.
    The notions of front, back, left, right, up, down, up, down, etc. the cleaning robot are defined with respect to this XrYrZr mark.
    The drive and guide members define a guide plane on a surface immersed by their points of contact with said immersed surface. Said guide plane, parallel to the plane formed by the longitudinal and transverse axes, is generally substantially tangential to the immersed surface at the point where the device is located. Said guide plane is for example substantially horizontal when the device moves on a submerged surface of the pool bottom.
    Throughout the text a "low" element is closer to the guidance plane than a high element.
    The pool cleaning robot 10 comprises a hydraulic circuit comprising at least one liquid inlet 13 and a liquid outlet 14. The liquid inlet 13 is, in the present nonlimiting example, situated at the base of the body 11 (in other words under it, when the pool cleaning robot 10 is placed in its normal operating position at the bottom of the pool), that is to say immediately facing a submerged surface on which moves the pool cleaning robot 10 to suck debris accumulated on said submerged surface. The liquid outlet 14 is on the top of the pool cleaning robot 10.
    In the present embodiment, the liquid outlet 14 is in a direction substantially perpendicular to the guide plane, that is to say vertically if the pool cleaning robot 10 rests on the bottom of the pool, and horizontally if the cleaning appliance is going through a vertical wall of the pool.
    The hydraulic circuit connects the liquid inlet 13 to the liquid outlet 14. The hydraulic circuit is adapted to ensure a flow of liquid from the liquid inlet 13 to the liquid outlet 14. The pool cleaning robot 10 comprises for this purpose a pump comprising a motor 19 and a propeller 20 disposed in the hydraulic circuit. The motor 19 drives the propeller 20 in rotation.
    This pump causes, on the one hand, a suction of water at the water inlet 13 located under the cleaning robot 10, so closer to the surface against which the cleaning robot 10 evolves, and, on the other hand, a water outlet through the water outlet 14, which is substantially perpendicular to the support plane of the cleaning robot 10 and thus to the traveled surface. These two phenomena, suction under the robot 10 and evacuation of pressurized water above the robot 10, determine the plating forces exerted on the cleaning robot 10 towards the surface that the robot 10 is in the process of . The adhesion of the cleaning robot 10 to the wall is increased, which facilitates the ascent of the cleaning robot 10. The apparatus comprises a filtration chamber 15 interposed, on the hydraulic circuit, between the inlet of liquid 13 and the liquid outlet 14.
    The filtration chamber 15 separating and storing the debris suspended in the liquid, comprises a filter basket 16 and a cover 17 forming the upper wall of the filtration chamber 15.
    The filter basket 16 is extractable, that is to say it can be extracted from and introduced into the body 11 of the cleaning robot 10. The body 11 of the cleaning robot 10 has a housing for this purpose. wherein the filter basket 16 can be mounted. The fact that the filter basket 16 is extractable makes it easy to empty, especially without having to handle the robot 10 in its entirety.
    In this example, the pool cleaning robot 10 is supplied with energy by means of a sealed flexible cable. In the present example, this flexible cable is attached to the body of the pool cleaning robot 10 at its upper part. This flexible cable is connected at its other end to the power supply unit (not shown in FIG. 1), disposed outside the basin, this power unit being itself connected to the electric current on the sector.
    The pool cleaning robot 10 further comprises here a gripping handle 18 adapted to allow a user to take the robot out of the water, especially when cleaning the filter.
    The operating parameters of the cleaning robot 10, such as, for example, the type of cleaning cycle requested by the user, are set via a user interface located on the power unit.
    It is recalled that such a cleaning robot frequently has two cleaning cycles. In a first cycle, the robot travels, the bottom of the pool, and cleans it, without climbing along the side walls. In a second cycle, the robot travels both the bottom of the pool and rises along the side walls, so as to take off the debris that is stuck to it, or that concentrate at the water line. In this second cycle, the robot climbs along the side wall, emerges partially to rub the water line with its brush, tilts to move laterally along the wall, and plunges back by reversing its direction to go down to the bottom while still cleaning the wall.
    During the various cycles, the control unit (not shown in FIG. 1) of the robot 10, housed in a sealed housing near the motors, adjusts the operating parameters of the drive motor of the displacement members and the fluid circulation pump, thus acting on the plating forces exerted on the robot towards the surface that it is running.
    In the present embodiment, the cleaning robot 10 comprises a pressure sensor 21 fixed to the body 11 of the cleaning robot 10.
    In a variant of this particular embodiment of the invention, the pressure sensor is connected to the robot by a flexible hose. The flexible hose can be attached to the robot body.
    The piezoresistive type pressure sensor 21 enables the control unit of the robot 10 to determine the depth of immersion in the basin from the measurement of the absolute pressure to which the cleaning robot 10 is subjected.
    In variants of this particular embodiment of the invention, the pressure sensor may be a piezoelectric sensor, comprising for example a strain gauge. It can also be any other type of measuring sensor indicating the depth at which the cleaning robot is located, such as a float in a capillary tube.
    The pressure sensor 21 comprises in this example a sealed body in which is inserted the sensor electronics.
    In a variant of this particular embodiment of the invention, the sensor electronics may be protected by resin or be included in a sealed housing.
    It should be emphasized that the pressure sensor 21 is advantageously housed outside the hydraulic fluid circulation circuit because the pumps cause a vacuum inside the hydraulic circuit relative to the local pressure. In addition, the value of this depression being a function of the instantaneous power of the pumps, varies over time.
    Since the mass of the robot tends to increase with debris collection during basin cleaning, the control unit adjusts the power of the drive and / or pump motors to increase the robot's capacity. to reach the water line.
    In addition, the control unit deduces the speed of ascent or descent of the pressure variations detected by the pressure sensor 21. The control unit then automatically adjusts the speed of the drive members, depending on the conditions of the adhesion of the robot on the wall.
    Furthermore, the control unit can detect via the pressure sensor 21 when the robot is close to the water line during climbing phases along a wall of the basin.
    The pressure sensor 21 is advantageously fixed in the middle of the cleaning robot 10 in the usual direction of the movement of the robot 10, close to one of the displacement and guiding members 12. This middle position of the pressure sensor 21 thus enables the control unit to detect the water line when the pressure measured corresponds to the atmospheric pressure plus the pressure corresponding to the half length of the cleaning robot 10. It should be emphasized that this detection of the water line is performed in the usual or reverse direction of the cleaning robot 10.
    In a variant of this particular embodiment of the invention, the pressure sensor 21 is housed in the center of the front face of the robot, thus enabling the control device for driving and guiding means to detect the line of water when the pressure is significantly higher than the atmospheric pressure. In variants of this embodiment of the invention, the pressure sensor 21 may be disposed at any other location of the robot, preferably but not exclusively in the robot.
    It should be emphasized that in order that the detection of the water line is reliable, the control unit of the robot 10 is calibrated during the first climb along a wall of the pool to be cleaned. For this purpose, the control unit adjusts the operating parameters of the driving and plating motors driving the robot 10 to reach the water line with certainty. The control unit determines the atmospheric pressure as the minimum of the pressure recorded during this first climb. The control unit also confirms that the atmospheric pressure is substantially constant each time the cleaning robot reaches the water line.
    In an alternative embodiment of this embodiment, the control unit records the atmospheric pressure before the immersion of the robot in the pool. The use of the pressure sensor 21 also allows the control unit to modify the parameters of the engines during the ascent of the cleaning robot 21 along a pool wall of a pool. For this purpose, the control unit of the cleaning robot 21 follows the control method 300 illustrated in FIG. 3a in the form of a block diagram.
    In a first step 310, the control unit detects the rise of the cleaning robot along a wall. This ascent results in a continuous decrease of the pressure detected by the pressure sensor 21. It should be emphasized that the measurement of the pressure can be smoothed so as not to take into account the minute variations brought about by the noise of the sensor. As soon as the ascent is detected, the control unit adjusts the operating parameters of the driving and cleaving motors of the cleaning robot 10, during step 320, so as to allow the ascent along the wall. The control unit detects in step 330, the approach of the water line.
    This detection can be carried out for example at a distance of about fifty centimeters from the water line. This distance is detected when the pressure detected by the pressure sensor 21 is equal to the sum of the atmospheric pressure Patm and the pressure of the water column by a height of fifty centimeters PCe · In this case, PCe is equal to fifty millibars or fifty hectopascals. As soon as the approach of the water line is detected, the control unit then gradually decreases the operating power of the drive and plating motors during step 340, so that the cleaning robot 10 reaches the water line with a low vertical speed, substantially equal to zero.
    The robot 10 can then follow the water line while being guided at a constant pressure substantially equal to the atmospheric pressure.
    It should be noted that the use of the pressure sensor 21 also allows the control unit to change the atmospheric pressure setpoint if the cleaning robot 10 draws in air when the robot is cleaning the water line. Nevertheless, if the cleaning robot 10 has a surplus of mass caused by the collection of many debris, the robot hardly reaches the water line, or even is unable to reach it despite the adjustment of the operating parameters of the engines. An indication is then displayed on the user interface indicating that the filter needs to be cleaned. On the other hand, the robot 10 can be advantageously guided to a constant immersion depth by controlling the pressure detected by the pressure sensor 21 to a given value. The robot 10 can thus for example clean the pool water line.
    In the present embodiment described here without limitation, the control unit also records the time spent at each depth. The control unit can thus adapt the time the robot has spent cleaning a particular depth, for example to clean the pool water line.
    The curve 30 shown in FIG. 3b illustrates an example of recording as a function of time of the ambient pressure at the robot immersed in a pool of a swimming pool. In this example, the basin is divided into two areas: a shallow area and a deeper area corresponding to a dipping pit. Three pressure levels are visible on the curve 30. The strongest pressure 31 corresponds to the bottom of the dive pit. The pressure 32 corresponding to the intermediate bearing is linked to the bottom of the shallow zone. The lowest pressure 33, substantially equal to the atmospheric pressure, reflects the cleaning of the water line of the basin.
    The robot 10 begins here by cleaning the bottom of the dive pit, translated by a bearing 34 pressure 31. The robot then goes back into the shallow area and cleans the bottom of this area. The curve 30 thus has a bearing 35 of intermediate pressure 32. The robot then rises along a wall of the basin to clean the water line. A new bearing 36 corresponding to the lowest pressure 33 reflects the cleaning of the water line. The robot then descends to the shallow area. The robot thus cleans the different areas of the pool. At each pressure level, the control unit of the cleaning robot 10 records the past times to clean the bottom of each area of the basin. When the robot enters, for example, in the deepest zone, the control unit compares the time spent in this zone with that recorded in the shallow zone. If the time spent in the dive pit is greater than a previously determined threshold time, the robot 10 reverses its direction of travel and returns to the shallow area to continue cleaning this area. This reversal of the direction of movement is illustrated on the curve 30 by the peak 37.
    It should be emphasized that a threshold duration is determined in each cleaning zone. This threshold can be determined in absolute or relative to a duration of another area to be cleaned. These threshold times are determined in order to homogenize the cleaning of the swimming pool basin. These threshold times may be a function of the surface area of the surfaces to be cleaned. The recording of the time spent at each depth also allows a homogeneous cleaning of stairs and beaches included in a pool pool.
    In variants of this particular embodiment of the invention, the pressure sensor 21 advantageously measures the pressure inside a rigid sealed housing. Figures 4a and 4b illustrate an embodiment of one of these variants. The sealed housing 41 comprising a pressure sensor 21 is secured to a blank of the body 11 of the cleaning robot 10, as shown in Figure 4a. The sealed casing 41, illustrated in greater detail in FIG. 4b, is made of a rigid plastic material and comprises a flexible membrane 42. In this variant, the pressure sensor 21 is located on an electronic card 43 fixed inside the casing 41. The electronic card 43 is connected to the control unit of the robot 10 by a cable 44 passing through the sealed housing 41 via a gland 45. The waterproof cable 44 ensures the transmission of a signal proportional to the ambient pressure at which the cleaning robot 10 evolves. The flexible membrane 42 is made in the present example of flexible PVC. Its thickness is substantially less than one millimeter. The membrane can also be made of flexible polyurethane or coated fabric.
    It should be noted that the housing 41 also thermally isolates the pressure sensor 21 motors and other energy dissipating components. The pressure sensor 21 thus has a substantially constant temperature, corresponding to the temperature of the water. The measurements obtained by the pressure sensor 21 are then reliable and reproducible. The sealed housing 41 also magnetically isolates magneto-sensitive components of the compass type, or electronic components, inserted in the housing 41. For this purpose, the sealed housing 41 may comprise a Faraday cage.
    In alternative embodiments of the invention, the pressure sensor is housed in part inside a rigid sealed housing secured to the body of the robot. The sealed housing is traversed by a capillary tube whose one end is connected in leaktight manner to the pressure sensor. The pressure sensor is thus subjected to a pressure equal to the sum of the ambient pressure and the pressure induced by the water included in the capillary tube.
    In alternative embodiments of the invention, the pressure sensor is a relative pressure sensor measuring the pressure relative to a pressure of a sealed chamber serving as a reference. The sealed enclosure may be a housing comprising a pressure equal to atmospheric pressure, a bar or vacuum. The sealed enclosure may also correspond to the engine block of the robot, the engine block being a sealed enclosure in which is housed the drive motor of the moving members of the cleaning robot. It should be emphasized, however, that the temperature of the engine block changes over time. It is therefore necessary to correct this reference pressure in order to take into account the pressure variations related to temperature variations in a constant volume.
    In alternative embodiments of the invention, the cleaning robot 10 also comprises means for determining at any time its attitude in the pool. For this purpose, the cleaning robot 10 comprises for example at least one known type of inclinometer, or a tilt type of vertical passage detection means or other equivalent device known to those skilled in the art. This inclinometer, which can be an accelerometer, makes it possible to determine the orientation of the cleaning robot along three axes. The control unit can then process the information from the robot's orientation determination means 10 in the pool, associating them with the immersion depth measured by the pressure sensor 21. Thus, the control unit can more accurately and finely adjust the operating parameters of the cleaning robot drive and clutch motors 10.
    The characteristics described above are not limiting and many other characteristics related to the use of an ambient pressure sensor are feasible.
    权利要求:
    Claims (26)
    [1" id="c-fr-0001]
    A pool cleaning robot (10) comprising: - a body (11), - at least one liquid circulation hydraulic circuit between at least one liquid inlet (13) and at least one liquid outlet (14), said hydraulic circuit comprising at least one means for separating debris suspended in the liquid, - pumping means ensuring the flow of liquid in said hydraulic circuit, - means for driving and guiding said cleaning robot on a surface - means for controlling the operating parameters of the driving and guiding means of said cleaning robot (10), characterized in that the control means comprise a pressure sensor (21) for determining the depth of immersion cleaning robot in a pond of a pool, from the measurement of the ambient pressure of the robot.
    [2" id="c-fr-0002]
    2. Cleaning robot according to claim 1, characterized in that the pressure sensor is an absolute pressure sensor.
    [3" id="c-fr-0003]
    3. Cleaning robot according to claim 1, characterized in that the pressure sensor is a relative pressure sensor measuring the pressure difference with respect to a pressure of a sealed chamber serving as a reference.
    [4" id="c-fr-0004]
    4. Cleaning robot according to any one of claims 1 to 3, characterized in that the pressure sensor is a piezoelectric sensor.
    [5" id="c-fr-0005]
    Cleaning robot according to claim 4, characterized in that the pressure sensor is a piezoresistive sensor.
    [6" id="c-fr-0006]
    6. Cleaning robot according to any one of claims 4 and 5, characterized in that the pressure sensor is a strain gauge attached to a wall subjected to the ambient pressure.
    [7" id="c-fr-0007]
    7. Cleaning robot according to any one of claims 1 to 6, characterized in that the control means comprise means for recording the time spent at least one determined immersion depth of said cleaning robot.
    [8" id="c-fr-0008]
    8. Cleaning robot according to any one of claims 1 to 7, characterized in that the control means are connected to at least one inclinometer secured to the body of the robot.
    [9" id="c-fr-0009]
    9. Cleaning robot according to any one of claims 1 to 8, characterized in that the pressure sensor is located in a median plane of the body of the robot, said plane being perpendicular to the usual axis of displacement.
    [10" id="c-fr-0010]
    10. Cleaning robot according to any one of claims 1 to 9, characterized in that the pressure sensor is housed, at least in part, inside a rigid sealed housing comprising a flexible membrane, the sensor of pressure measuring the internal pressure of said sealed housing.
    [11" id="c-fr-0011]
    11. Cleaning robot according to any one of claims 1 to 9, characterized in that the pressure sensor is housed, at least in part, inside a rigid sealed housing traversed by a capillary tube having one end. inside the housing, said pressure sensor being sealingly connected to said end of the capillary tube, measuring the pressure at said end of the capillary tube.
    [12" id="c-fr-0012]
    12. Cleaning robot according to any one of claims 10 and 11, characterized in that the sealed housing is made of a plastic material having a low thermal conductivity.
    [13" id="c-fr-0013]
    13. Cleaning robot according to any one of claims 9 to 12, characterized in that the sealed housing comprises a Faraday cage.
    [14" id="c-fr-0014]
    14. A method of controlling a pool cleaning robot, said robot comprising: pumping means ensuring the flow of the liquid in said hydraulic circuit, means for driving and guiding said cleaning robot on a surface - means for controlling the operating parameters of the drive and guide means of said cleaning robot (10), the control means comprising a pressure sensor (21) for determining the depth of immersion of the cleaning robot in a basin of a swimming pool, from the measurement of the ambient pressure of the robot, characterized in that the method comprises a step of adjusting the operating parameters of the plating means and / or the drive means and guidance according to the pressure detected by the pressure sensor.
    [15" id="c-fr-0015]
    15. The method of claim 14, characterized in that it comprises a step in which the control means guide the cleaning robot to a constant immersion depth by controlling the pressure detected by the pressure sensor to a given value.
    [16" id="c-fr-0016]
    16. Method according to any one of claims 14 and 15, characterized in that it comprises a step in which the control means are calibrated during the first climb along a wall of the basin to be cleaned, adjusting the operating parameters of the drive and guide means for driving the robot to reach the water line in a certain way.
    [17" id="c-fr-0017]
    17. The method of claim 16, characterized in that it comprises a step in which the control means determine the atmospheric pressure as the minimum pressure recorded during the first rise.
    [18" id="c-fr-0018]
    18. Method according to any one of claims 14 to 17, characterized in that it comprises a step in which the control means record the atmospheric pressure before the immersion of the robot in the pool.
    [19" id="c-fr-0019]
    19. Method according to any one of claims 17 and 18, characterized in that it comprises the following steps: - 310, the control means detects the rise of the cleaning robot along a wall; - 320, since the ascent is detected, the control means adjust the operating parameters of the drive and guiding means of the cleaning robot, to allow climbing along the wall; - 330, the control means detect the approach of the water line at a distance D from the water line, when the pressure detected by the pressure sensor is equal to the sum of the atmospheric pressure and the pressure the water column of height D; - 340, when the approach of the water line is detected, the control means adjust the operating parameters of the drive and guiding means of the cleaning robot, gradually decreasing the power of the drive means and guiding, so that the cleaning robot reaches the line with a low vertical speed, substantially equal to zero.
    [20" id="c-fr-0020]
    20. The method of claim 19, characterized in that it comprises a step in which the cleaning robot follows the water line being guided at a constant pressure substantially equal to atmospheric pressure.
    [21" id="c-fr-0021]
    21. Method according to any one of claims 19 and 20, characterized in that it comprises a step in which the control means modify the atmospheric pressure setpoint if the cleaning robot sucks air when the robot cleans the air. water line.
    [22" id="c-fr-0022]
    22. Method according to any one of claims 19 to 21, characterized in that it comprises a step in which the control means modify the setpoint of the operating parameters of the drive and guiding means of the cleaning robot, for reduce the speed of approach to the water line, if the cleaning robot sucks in air when the robot is cleaning the water line.
    [23" id="c-fr-0023]
    23. Method according to any one of claims 14 to 22, characterized in that it comprises a step in which, after detection of what the cleaning robot hardly reaches the water line, or is unable to reach it. despite the adjustment of the operating parameters of the driving and guiding means, an indication is displayed on a user interface indicating that the filter must be cleaned.
    [24" id="c-fr-0024]
    24. Method according to any one of claims 14 to 23, characterized in that it comprises a step of recording the cleaning time spent by the cleaning robot to at least a given depth.
    [25" id="c-fr-0025]
    25. The method of claim 24, characterized in that it comprises a step in which the control means comprise at least one cleaning instruction in time to pass for the cleaning of a given depth.
    [26" id="c-fr-0026]
    26. The method of claim 24, characterized in that it comprises a step in which the control means comprise at least one relative cleaning instruction comparing the time spent between at least two given depths.
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    同族专利:
    公开号 | 公开日
    EP3408471B1|2020-03-04|
    AU2017212758B2|2021-07-08|
    WO2017129884A1|2017-08-03|
    US20190040642A1|2019-02-07|
    EP3408471A1|2018-12-05|
    US10316534B2|2019-06-11|
    FR3047261B1|2020-06-12|
    AU2017212758A1|2018-08-16|
    ES2784526T3|2020-09-28|
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    EP3405629A4|2016-01-22|2020-01-22|Hayward Industries, Inc.|Systems and methods for providing network connectivity and remote monitoring, optimization, and control of pool/spa equipment|
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    WO2021024085A1|2019-08-07|2021-02-11|Zodiac Pool Care Europe|Systems and methods of operating automatic swimming pool cleaners with enhanced cycle times|
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    CN112049475A|2020-09-07|2020-12-08|杨智琼|Can climb post soil pick-up machine|
    法律状态:
    2017-01-25| PLFP| Fee payment|Year of fee payment: 2 |
    2017-08-04| PLSC| Publication of the preliminary search report|Effective date: 20170804 |
    2018-01-25| PLFP| Fee payment|Year of fee payment: 3 |
    2020-01-27| PLFP| Fee payment|Year of fee payment: 5 |
    2020-07-31| CA| Change of address|Effective date: 20200623 |
    2021-01-25| PLFP| Fee payment|Year of fee payment: 6 |
    2022-01-25| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1650744A|FR3047261B1|2016-01-29|2016-01-29|POOL CLEANER ROBOT AND METHOD OF USING SUCH A ROBOT|
    FR1650744|2016-01-29|FR1650744A| FR3047261B1|2016-01-29|2016-01-29|POOL CLEANER ROBOT AND METHOD OF USING SUCH A ROBOT|
    PCT/FR2017/050133| WO2017129884A1|2016-01-29|2017-01-23|Swimming pool cleaning robot and method for using same|
    US16/073,269| US10316534B2|2016-01-29|2017-01-23|Swimming pool cleaning robot and method for using same|
    AU2017212758A| AU2017212758B2|2016-01-29|2017-01-23|Swimming pool cleaning robot and method for using same|
    ES17706557T| ES2784526T3|2016-01-29|2017-01-23|Pool cleaner robot and procedure for using said robot|
    EP17706557.0A| EP3408471B1|2016-01-29|2017-01-23|Swimming pool cleaning robot and method for using same|
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